Surgical robot control method and device and surgical robot control system

Abstract

The invention relates to a surgical robot control method and device and a surgical robot control system. The method comprises the steps that under the condition that it is detected that the tail end of a mechanical arm of the surgical robot is connected with a surgical cannula, the tail end pose of the mechanical arm is obtained, the current angle of a target joint is determined in response to dragging operation on the target joint in the mechanical arm, and then the target joint is determined according to the current angle of the target joint and the tail end pose of the mechanical arm; and the mechanical arm is controlled to move under the condition that the tail end pose of the mechanical arm is not changed, and the target joint is a joint used for adjusting the position of the mechanical arm in an adjusting mechanism of the mechanical arm. By adopting the method, the operation complexity can be simplified.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a control method and device for a surgical robot and a surgical robot control system. Background Art

[0002] With the advancement of robotics technology, surgical robots are increasingly being used in minimally invasive surgeries. The robotic arm of a surgical robot needs to move to a suitable surgical position before surgery to meet the requirements of subsequent surgical operations.

[0003] However, currently at least two medical staff are required to collaborate and control the surgical robot before surgery. One medical staff manually fixes the end of the robotic arm, and the other medical staff adjusts the robotic arm so that the robotic arm needs to move to the appropriate surgical position before surgery. Therefore, the current control method of the surgical robot has the problem of complex operation. Summary of the invention

[0004] Based on this, it is necessary to provide a control method, device and surgical robot control system for a surgical robot that can simplify the complexity of operation in order to solve the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a control method for a surgical robot, comprising:

[0006] When it is detected that the end of the robotic arm of the surgical robot is connected to the surgical cannula, the end position of the robotic arm is acquired;

[0007] In response to a dragging operation on a target joint in the robotic arm, a current angle of the target joint is determined; the target joint is a joint in an adjustment mechanism of the robotic arm used to adjust the position of the robotic arm;

[0008] According to the current angle of the target joint and the end position of the robot arm, the robot arm is controlled to move while the end position of the robot arm remains unchanged.

[0009] In one embodiment, according to the current angle of the target joint and the end position of the robot arm, controlling the robot arm to move while the end position of the robot arm remains unchanged includes:

[0010] Based on the end pose of the robot arm and the current angle of the target joint, determine the target angles of other joints in the adjustment mechanism; the other joints include joints in the adjustment mechanism other than the target joint;

[0011] According to the target angles of other joints, the robot arm is controlled to move while the end position of the robot arm remains unchanged.

[0012] In one embodiment, obtaining the end position of the robot arm includes:

[0013] Get the current angle of each joint in the adjustment mechanism of the robot arm;

[0014] Based on the current angles of the joints in the adjustment mechanism, the end pose of the robot arm is determined.

[0015] In one embodiment, the control method of the surgical robot further includes:

[0016] After controlling the robotic arm to move while the end position of the robotic arm remains unchanged, obtaining a position evaluation result of the surgical robot;

[0017] When the posture evaluation result of the surgical robot does not meet the preset posture requirement, a prompt message is output; the prompt message is used to instruct to re-drag the target joint in the adjustment mechanism.

[0018] In a second aspect, the present application also provides a control system for a surgical robot, comprising:

[0019] A positioning module, for obtaining the end position of the robotic arm of the surgical robot when detecting that the end of the robotic arm is connected to the surgical cannula, and determining the current angle of the target joint in response to a dragging operation on the target joint in the robotic arm; the target joint is a joint in the adjustment mechanism of the robotic arm used to adjust the position of the robotic arm;

[0020] The control module is used to control the movement of the robot arm under the condition that the end posture of the robot arm remains unchanged according to the current angle of the target joint and the end posture of the robot arm.

[0021] In one embodiment, the robot arm includes a plurality of robot arms, each of which includes an adjustment mechanism and a telecentric mechanism connected to the adjustment mechanism;

[0022] The telecentric mechanism can relatively adjust the mechanism movement;

[0023] Wherein, the plurality of mechanical arms include a plurality of first mechanical arms of the same structure, and the adjustment mechanism of the first mechanical arms includes a crossbar assembly, an end rotation joint, and an axial support assembly;

[0024] The end rotation joint is arranged at one end of the crossbar assembly and is used for rotating the crossbar assembly in the horizontal direction; the axial support assembly is arranged between the crossbar assembly and the telecentric mechanism.

[0025] In one embodiment, the crossbar assembly includes a translation joint, and the axial support assembly includes an axial rotation joint and a pitch joint;

[0026] The moving joint is arranged on the side of the crossbar assembly facing the axial support assembly, and is used to drive the axial support assembly to move along the side of the crossbar assembly;

[0027] The axial rotation joint is arranged at one end of the axial support assembly close to the crossbar assembly, and is used to drive the axial support assembly to rotate in the horizontal direction;

[0028] The pitch joint is arranged between the axial support assembly and the telecentric mechanism, and is used for adjusting the pitch angle of the telecentric mechanism.

[0029] In one embodiment, the multiple robotic arms include at least two second robotic arms, and the adjustment mechanism of the second robotic arms includes multiple vertical rotation joints and one transverse rotation joint; the multiple vertical rotation joints and the transverse rotation joints are connected by a connecting component.

[0030] In a third aspect, the present application also provides a control device for a surgical robot, comprising:

[0031] A first determination module is used to obtain the end position of the robotic arm when it is detected that the end of the robotic arm of the surgical robot is connected to the surgical cannula;

[0032] A second determination module is used to determine the current angle of the target joint in response to the dragging operation on the target joint in the robotic arm; the target joint is a joint in the adjustment mechanism of the robotic arm used to adjust the position of the robotic arm;

[0033] The control module is used to control the movement of the robot arm under the condition that the end posture of the robot arm remains unchanged according to the current angle of the target joint and the end posture of the robot arm.

[0034] In a fourth aspect, the present application further provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above methods when executing the computer program.

[0035] In a fifth aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the steps of any of the above methods when executed by a processor.

[0036] In a sixth aspect, the present application also provides a computer program product, including a computer program, which implements the steps of any of the above methods when executed by a processor.

[0037] The control method, device and control system of the surgical robot described above, because when the end of the robotic arm of the surgical robot is detected to be connected to the surgical cannula, the end position of the robotic arm is obtained, and in response to the dragging operation of the target joint in the robotic arm, the current angle of the target joint is determined, and the target joint is a joint in the adjustment mechanism of the robotic arm used to adjust the position of the robotic arm, therefore, according to the current angle of the target joint and the end position of the robotic arm, the robotic arm can be controlled to move while the end position of the robotic arm remains unchanged. In this process, there is no need for medical staff to manually fix the end of the robotic arm so that the end of the robotic arm remains stationary, and only one medical staff needs to drag the target joint, and then the robotic arm can be combined with the intention of the medical staff to move to a suitable position while the end position of the robotic arm remains unchanged, therefore, the method provided by this embodiment can simplify the complexity of the operation. Furthermore, since multiple medical staff and manual fixation are not required, human resources can also be saved, and the ease of use and reliability of the surgical robot can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 This is an application environment diagram of the control method of the surgical robot in the embodiment of the present application;

[0040] Figure 2 Schematic diagram of the control method of the surgical robot in the embodiment of the present application;

[0041] Figure 3 This is a schematic diagram of an operation process in an embodiment of the present application;

[0042] Figure 4 This is a schematic diagram of a process for controlling the movement of a robotic arm in an embodiment of the present application;

[0043] Figure 5 This is a schematic diagram of a process for obtaining the terminal posture in an embodiment of the present application;

[0044] Figure 6 A schematic diagram of a posture assessment process in an embodiment of the present application;

[0045] Figure 7 A schematic diagram of the principle of a control method for a surgical robot in an embodiment of the present application;

[0046] Figure 8This is a process schematic diagram of a control method for a surgical robot in an embodiment of the present application;

[0047] Fig. 9 This is a schematic diagram of the structure of a surgical robot control system in an embodiment of the present application;

[0048] Fig.10 This is a schematic diagram of the structure of a surgical robot in an embodiment of the present application;

[0049] Fig.11 This is a schematic diagram of the connection between a trolley mechanism and an adjustment mechanism in an embodiment of the present application;

[0050] Fig.12 This is a structural schematic diagram of an adjustment mechanism in an embodiment of the present application;

[0051] Fig.13 A schematic diagram of the structure of a surgical robot in an embodiment of the present application;

[0052] Fig.14 This is a schematic diagram of the structure of another surgical robot in an embodiment of the present application;

[0053] Fig.15 This is a structural schematic diagram of a telecentric mechanism in an embodiment of the present application;

[0054] Fig.16 This is a structural block diagram of a control and adjustment device for a surgical robot in an embodiment of the present application;

[0055] Fig.17 Schematic diagram of the internal structure of a computer device in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0057] Figure 1 This is an application environment diagram of the control method of the surgical robot in the embodiment of the present application. Among them, the surgical robot 102 is communicatively connected to the computer device 103, and is used to perform surgery on the patient on the operating table 101. The surgical robot 102 includes a plurality of robotic arms, and each robotic arm includes at least one joint. Taking laparotomy as an example, the robotic arms can be divided into mirror holding arms and instrument holding arms according to actual operation purposes. The mirror holding arm is used to connect the endoscope, and the instrument holding arm is used to connect the surgical instruments. In other words, in laparotomy, the surgical robot 102 includes at least one instrument holding arm and one mirror holding arm.

[0058] like Figure 1As shown, the computer device 103 can be independently arranged outside the surgical robot 102, including but not limited to various personal computers, laptops, smart phones, tablet computers and portable wearable devices, and the portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. In some embodiments, the computer device 103 can also be implemented by an independent server or a server cluster composed of multiple servers.

[0059] In some embodiments, the computer device 103 may also be disposed inside the surgical robot 102. For example, the computer device 103 may also be a central processing unit (CPU), a digital signal processor (DSP), a field programmable gate array (FPGA) or other programmable logic devices.

[0060] Please continue to refer to Figure 1 In some embodiments, the computer device 103 may include a main console 1031 and a visual system 1032. The medical staff may control the surgical robot 102 by operating the main console 1031 to perform the surgery. The visual system 1032 is used to feed back images during the surgery.

[0061] Figure 2 FIG. 1 is a flow chart of a control method of a surgical robot in an embodiment of the present application. In an exemplary embodiment, Figure 2 As shown, a control method for a surgical robot is provided, and the method is applied to Figure 1 The computer device in is used as an example for explanation, including the following S201 to S203.

[0062] S201, when it is detected that the end of the robotic arm of the surgical robot is connected to the surgical cannula, the end position of the robotic arm is acquired.

[0063] Among them, the surgical cannula is used to connect the end of the robotic arm and the corresponding instrument. Taking laparotomy as an example, the end of the scope holding arm in the robotic arm is connected to the surgical cannula corresponding to the endoscope, and the end of the instrument holding arm in the robotic arm is connected to the surgical cannula corresponding to the surgical instrument.

[0064] It is understandable that the robotic arm can be any robotic arm in the surgical robot. In the process of positioning the surgical robot before the operation, the medical staff will connect the end of the robotic arm of the surgical robot to the surgical cannula. In the prior art, after the robotic arm is connected to the surgical cannula, the medical staff needs the relative posture relationship between the robotic arms in the surgical robot to meet the subsequent surgical operation requirements. Among them, when adjusting each robotic arm, a medical staff is required to manually fix the end of the robotic arm so that the end of the robotic arm remains motionless. In addition, at least one medical staff member is required to drag the adjustment mechanism of the robotic arm with both hands, and then the relative posture relationship between the robotic arms is guaranteed to ensure the space requirements of the operation. Therefore, the control method of the surgical robot in the prior art is complicated to operate, and requires two medical staff, which consumes human resources. Furthermore, since the end of the robotic arm needs to be manually fixed by medical staff, the ease of use and reliability of the surgical robot are also low.

[0065] In this embodiment, the computer device automatically detects whether the end of the mechanical arm of the surgical robot is connected to the surgical cannula. Optionally, the computer device can detect whether the end of the mechanical arm is connected to the surgical cannula by setting a sensor on the end of the mechanical arm, and the computer device can also detect whether a confirmation signal is received to detect whether the end of the mechanical arm is connected to the surgical cannula, wherein the confirmation signal can be a signal generated by the computer device in response to the triggering operation after the medical staff determines that the end of the mechanical arm is connected to the surgical cannula.

[0066] Furthermore, when it is detected that the end of the robotic arm of the surgical robot is connected to the surgical cannula, the computer device will obtain the end position of the robotic arm.

[0067] Optionally, the computer device may obtain the end position and posture of the robotic arm through a sensor. Exemplarily, the computer device may obtain the end position and posture of the robotic arm through a posture sensor disposed at the end of the robotic arm.

[0068] S202, in response to a dragging operation on a target joint in the robotic arm, determining a current angle of the target joint; the target joint is a joint in an adjustment mechanism of the robotic arm used to adjust the position of the robotic arm.

[0069] The mechanical arm includes an adjustment mechanism, which can adjust the position and posture of the mechanical arm. The adjustment mechanism includes at least one active joint, and the active joint refers to a joint that can actively move according to a signal from a computer device.

[0070] Furthermore, at least one active joint of the adjustment mechanism includes a target joint. The target joint is a joint in the adjustment mechanism of the robotic arm used to adjust the position of the robotic arm. In this way, medical staff can drag the target joint in the robotic arm to adjust the position of the robotic arm in space.

[0071] It is understandable that after the medical staff drags the target joint, the angle of the target joint will change. Therefore, the computer device can determine the current angle of the target joint in response to the dragging operation on the target joint in the robotic arm.

[0072] Optionally, a torque sensor may be provided on the target joint, and the computer device may obtain the direction and magnitude of the force on the target joint in real time through the torque sensor to determine the current angle of the target joint according to the direction and magnitude of the force.

[0073] In some embodiments, the medical staff may also trigger a completion operation after completing the dragging operation, so that the computer device can obtain instructions corresponding to the completion operation, thereby determining the current angle of the target joint in response to the dragging operation on the target joint in the robotic arm.

[0074] S203, according to the current angle of the target joint and the end position of the robot arm, controlling the robot arm to move while the end position of the robot arm remains unchanged.

[0075] In this embodiment, after the current angle of the target joint is determined, the computer device can combine the current angle of the target joint with the end position of the robot arm to control the robot arm to move while the end position of the robot arm remains unchanged.

[0076] Optionally, the computer device can input the current angle of the target joint and the end position of the robot arm into a trained control model, and the control model determines the motion strategy of the robot arm, and controls the movement of the robot arm through the motion strategy, so as to control the movement of the robot arm while the end position of the device connected to the robot arm remains unchanged. The control model can be a convolutional neural network (CNN), a recurrent neural network (RNN), or other deep learning networks, machine learning networks, etc.

[0077] Figure 3 This is a schematic diagram of an operation process in an embodiment of the present application. Figure 3 The figure shows the control process of the surgical robot before surgery. Figure 3 As shown, Figure 3 (a) is the initial state of the robotic arm. In this case, the robotic arm 301 in the surgical robot has not yet been connected to the surgical cannula 303. Figure 3 (b) is the connection state of the robotic arm. In this case, the medical staff connects the robotic arm 301 in the surgical robot to the surgical cannula 303 set on the patient 302. Figure 3(c) is the control state of the robotic arm. In this case, only one medical staff member is required to drag the target joint of the robotic arm. After that, the computer device can control the movement of the robotic arm without changing its own end position according to the above-mentioned control method of the surgical robot, and at the same time meet the control needs of the medical staff to achieve subsequent surgical operation requirements.

[0078] In the control method of the above-mentioned surgical robot, since the end position of the robotic arm is obtained when the end of the robotic arm of the surgical robot is detected to be connected to the surgical cannula, and the current angle of the target joint is determined in response to the dragging operation of the target joint in the robotic arm, and the target joint is a joint in the adjustment mechanism of the robotic arm used to adjust the position of the robotic arm, therefore, according to the current angle of the target joint and the end position of the robotic arm, the robotic arm can be controlled to move while the end position of the robotic arm remains unchanged. In this process, there is no need for medical staff to manually fix the end of the robotic arm so that the end of the robotic arm remains stationary, and only one medical staff needs to drag the target joint, and then the robotic arm can be combined with the intention of the medical staff to move to a suitable position while the end position of the robotic arm remains unchanged. Therefore, the method provided in this embodiment can simplify the complexity of the operation. Furthermore, since multiple medical staff and manual fixation are not required, human resources can also be saved, and the ease of use and reliability of the surgical robot can be improved.

[0079] Figure 4 FIG. 1 is a flow chart of controlling the movement of a robot arm in an embodiment of the present application. In an exemplary embodiment, Figure 4 As shown, S203 includes S401 to S402.

[0080] S401, based on the end posture of the robot arm and the current angle of the target joint, determine the target angles of other joints in the adjustment mechanism; the other joints include the joints in the adjustment mechanism except the target joint.

[0081] In this embodiment, in order to ensure that the end position of the robot arm remains unchanged during the process of controlling the movement of the robot arm, the computer device determines the target angles of other joints in the adjustment mechanism based on the end position of the robot arm and the current angle of the target joint. The other joints include joints in the adjustment mechanism other than the target joint.

[0082] Optionally, the computer device can perform inverse kinematics solution on the adjustment mechanism of the robot arm based on the end posture of the robot arm and the current angle of the target joint, and determine the target angles of other joints when an inverse solution exists.

[0083] Optionally, if there is no inverse solution when performing inverse kinematics solution on the adjustment mechanism of the robotic arm based on the end posture of the robotic arm and the current angle of the target joint, the computer device can issue an error message to alert the medical staff.

[0084] Exemplarily, assuming that the joints included in the adjustment mechanism of the robotic arm 1 of the surgical robot are recorded as: joint 5, joint 6, joint 7 and joint 8, and joint 5 is the target joint, then after the computer device determines the current angle of joint 5 in response to the dragging operation on joint 5 in the robotic arm 1, it can perform inverse kinematics solution on the robotic arm 1 according to the end posture of the robotic arm 1 and the current angle of joint 5, and when an inverse solution exists, determine the target angle of joint 6, the target angle of joint 7 and the target angle of joint 8 in the robotic arm 1.

[0085] That is to say, the i-th robotic arm in the surgical robot is called robotic arm i, and the end position of robotic arm i is P i The target angles of joints 6, 7, and 8 of the adjustment mechanism in robot arm i are denoted as θ i6 ,θ i7 ,θ i8 ; then the current angle of joint 5 of the adjustment mechanism in robot arm i is recorded as θ i5 , the following formula (1) holds.

[0086] In this way, the computer device can determine the target angles of other joints in the adjustment mechanism based on the end position of the robot arm and the current angle of the target joint. Wherein, i is an integer greater than or equal to 1.

[0087] θ i6 ,θ i7 ,θ i8 =f1(θ i5 ,P I ) (1)

[0088] S402, according to the target angles of other joints, the robot arm is controlled to move while the end position of the robot arm remains unchanged.

[0089] In this embodiment, after determining the target angles of other joints, the computer device can control the other joints to move according to the movement of the target joints, thereby controlling the robot arm to move while the end position of the robot arm remains unchanged.

[0090] Optionally, the above-mentioned motion strategy includes a motion sequence. The computer device can perform motion planning for other joints according to the target angles and current angles of other joints, and correct the sequence after motion planning to obtain the motion sequence of the robotic arm. Of course, the computer device can also directly determine the motion sequence of the robotic arm after performing motion planning for other joints, and this embodiment is not limited to this. It should be noted that the above-mentioned motion planning may include but is not limited to a grid search method, a free space method, and a quadtree method. The joint angles of other joints can be obtained by sensors.

[0091] Further optionally, the motion sequence of the robot arm may indicate the motion trajectories of other joints in the robot arm. Taking joint 6 of robot arm 1 as an example, the motion sequence of robot arm 1 may include the expected angle 1 of joint 6 at time 1, the expected angle 2 at time 2, the expected angle 3 at time 3, ... the expected angle t at time t. t is an integer greater than or equal to 1.

[0092] In this way, the computer device can control the movement of the robot arm according to the movement sequence of the robot arm, so as to control the robot arm without changing the end position of the robot arm. For example, taking the joint 6 of the robot arm 1 as an example, the computer device can give the driving signal of the joint 6 of the robot arm 1 at each moment according to the movement sequence of the robot arm 1 and the current angle of the joint 6 in the robot arm 1 at each moment, so that the actual angle of the joint 6 of the robot arm 1 at each moment meets the expected angle in the movement sequence.

[0093] This embodiment determines the target angles of other joints in the adjustment mechanism based on the end posture of the robot arm and the current angle of the target joint. The other joints include joints in the adjustment mechanism except the target joint. Therefore, according to the target angles of other joints, the robot arm can be controlled to move while the end posture of the robot arm remains unchanged.

[0094] Figure 5 FIG. 1 is a flow chart of obtaining the terminal position in an embodiment of the present application. In an exemplary embodiment, as shown in FIG. Figure 5 As shown, S201 includes S501 to S502.

[0095] S501, obtaining the current angle of each joint in the adjustment mechanism of the robot arm.

[0096] In this embodiment, the current angles of joints 6, 7, and 8 of the adjustment mechanism in the robot arm i are recorded as θ I For example, when it is detected that the end of the robotic arm i of the surgical robot is connected to the surgical cannula, the position of the robotic arm i is fixed at this time, and the computer device can obtain the current angle θ of each joint in the adjustment mechanism at this time. I5 ,θ I6 ,θi7 and θ i8 .

[0097] S502, determining the end position of the robot arm based on the current angle of each joint in the adjustment mechanism.

[0098] Furthermore, θ I5 ,θ i6 ,θ i7 and θ i8 and the end position P of robot arm i i The following equation (2) is satisfied. Therefore, the computer device can determine the end position P of the robot arm i based on the current angle of each joint in the adjustment mechanism: I .

[0099] P I =f2(θ i5 ,θ i6 ,θ i7 ,θ i8 ) (2)

[0100] Optionally, the computer device can perform a forward kinematic solution based on the current angles of each joint in the adjustment mechanism to determine the end position of the robotic arm.

[0101] Since this embodiment can obtain the current angles of each joint in the adjustment mechanism of the robotic arm and determine the end position of the robotic arm based on the current angles of each joint in the adjustment mechanism, when it is detected that the end of the robotic arm of the surgical robot is connected to the surgical cannula, the end position of the robotic arm can be obtained efficiently and accurately.

[0102] Figure 6 FIG. 1 is a flow chart of a posture evaluation process in an embodiment of the present application. In an exemplary embodiment, as shown in FIG. Figure 6 As shown, the control method of the surgical robot also includes S601 to S602.

[0103] S601, after controlling the robot arm to move while the end position of the robot arm remains unchanged, obtaining a position evaluation result of the surgical robot.

[0104] In this embodiment, according to the current angle of the target joint and the end posture of the robotic arm, after controlling the robotic arm to move while the end posture of the robotic arm remains unchanged, the computer device obtains the posture evaluation result of the surgical robot to evaluate whether the posture of the robotic arm is appropriate.

[0105] The posture evaluation result may be a pass or fail, or any value greater than or equal to 0 and less than or equal to 10. The larger the value, the better the posture evaluation result of the robotic arm. In some embodiments, the posture evaluation result may also include the current posture of each robotic arm in the surgical robot.

[0106] Optionally, the computer device may determine the posture evaluation result of the surgical robot according to the current angle of each joint in each robotic arm after the end posture of the robotic arm moves without changing. The computer device may also determine the posture evaluation result of the surgical robot in response to the input operation of the medical staff.

[0107] S602, when the posture evaluation result of the surgical robot does not meet the preset posture requirement, output a prompt message; the prompt message is used to instruct to re-drag the target joint in the adjustment mechanism.

[0108] In this embodiment, the preset posture requirement may be "passed". When the posture evaluation result is passed, it means that the posture evaluation result meets the preset posture requirement. The preset posture requirement may also be that the value in the posture evaluation result is less than a preset threshold value. The preset threshold value is set according to the requirements and is a number greater than 0. The preset posture requirement may also be the posture constraint condition of other manipulators, which is not limited in this embodiment.

[0109] Furthermore, when the posture evaluation result of the surgical robot does not meet the preset posture requirement, the computer device will output a prompt message, wherein the prompt message is used to instruct to re-drag the target joint in the adjustment mechanism, and includes but is not limited to at least one of a sound prompt, a display prompt, and a vibration prompt.

[0110] In this way, after the computer device outputs the prompt information, the medical staff can determine that the current posture of the robotic arm does not meet the surgical operation requirements. Therefore, the medical staff can re-drag the target joint in the robotic arm according to the prompt information.

[0111] Since this embodiment can obtain the posture evaluation result of the surgical robot after controlling the mechanical arm to move while the end posture of the mechanical arm remains unchanged, the computer device can promptly confirm the movement effect of the mechanical arm after the movement. In addition, since it can output a prompt message to instruct the target joint in the adjustment mechanism to be dragged again when the posture evaluation result of the surgical robot does not meet the preset posture requirements, the computer device can promptly notify the medical staff to re-drag the target joint in the adjustment mechanism when the movement effect of the mechanical arm is not good, so as to improve the control efficiency and control effect of the surgical robot.

[0112] In order to more clearly introduce the control method of the surgical robot in this application, Figure 7 and Figure 8 illustrate. Figure 7 FIG. 1 is a schematic diagram showing the principle of a control method for a surgical robot in an embodiment of the present application. Figure 7As shown, before the operation, the medical staff connects the end of the mechanical arm in the surgical robot to the surgical cannula. When the computer device detects that the end of the mechanical arm is connected to the surgical cannula, the adjustment mechanism of the mechanical arm enters the constraint drag mode. In the constraint drag mode, the target joint in the adjustment mechanism enters the torque control mode and moves according to the operation intention of the medical staff. The other joints in the adjustment mechanism are in the position control mode and will move with the movement of the target joint. In this way, the medical staff can drag the adjustment mechanism of the mechanical arm with one hand, that is, the medical staff drags the target joint in the adjustment mechanism with one hand. Then, the computer device controls the movement of the mechanical arm according to the control method of the above-mentioned surgical robot.

[0113] After controlling the robot arm to move, the medical staff can evaluate whether the current surgical robot meets the surgical operation requirements, obtain the posture evaluation results of the surgical robot, and feedback the posture evaluation results to the computer device through input operations. Finally, the computer device determines whether the posture evaluation results meet the preset posture requirements. If not, the medical staff can re-drag the target joint. Among them, the medical staff can determine whether the target joint needs to be re-dragged through the prompt information output by the computer device.

[0114] In the process of controlling the movement of the robotic arm according to the above-mentioned control method of the surgical robot, the computer device first obtains the current angle of each joint in the adjustment mechanism of the robotic arm when it detects that the end of the robotic arm of the surgical robot is connected to the surgical cannula, and then calculates the end position of the robotic arm using forward kinematics based on the current angle of each joint in the adjustment mechanism.

[0115] Furthermore, the computer device will also respond to the dragging operation of the target joint in the adjustment mechanism of the robot arm, obtain the current angle of the target joint, and use inverse kinematics to calculate the target angles of other joints in the adjustment mechanism based on the end position of the robot arm and the current angle of the target joint. Afterwards, the computer device controls the robot arm to move according to the target angles of other joints while keeping the end position of the robot arm unchanged.

[0116] Figure 8 FIG. 1 is a process diagram of a control method for a surgical robot in an embodiment of the present application. Figure 8 As shown, the computer device executes the control method of the surgical robot according to the following process.

[0117] S801, when it is detected that the end of the robotic arm of the surgical robot is connected to the surgical cannula, the current angle of each joint in the adjustment mechanism of the robotic arm is obtained.

[0118] S802, determining the end position of the robot arm based on the current angle of each joint in the adjustment mechanism.

[0119] S803, in response to the dragging operation on the target joint in the robotic arm, determining the current angle of the target joint.

[0120] S804, based on the end position of the robot arm and the current angle of the target joint, determine the target angles of other joints in the adjustment mechanism, wherein the other joints include joints in the adjustment mechanism except the target joint.

[0121] S805, according to the target angles of other joints, the robot arm is controlled to move while the end position of the robot arm remains unchanged.

[0122] S806, after controlling the robotic arm to move while the end position of the robotic arm remains unchanged, obtaining a position and posture evaluation result of the surgical robot.

[0123] S807: If the posture evaluation result of the surgical robot does not meet the preset posture requirement, output a prompt message, wherein the prompt message is used to instruct to re-drag the target joint in the adjustment mechanism.

[0124] S801 to S807 may refer to the above embodiment and will not be described in detail here.

[0125] Fig. 9 FIG. 1 is a schematic diagram of a surgical robot control system in an embodiment of the present application. In an exemplary embodiment, Fig. 9 As shown, the surgical robot control system 900 includes:

[0126] The positioning module 901 is used to obtain the end posture of the robotic arm of the surgical robot when it is detected that the end of the robotic arm is connected to the surgical cannula, and determine the current angle of the target joint in the robotic arm in response to the dragging operation of the target joint in the robotic arm; the target joint is the joint in the adjustment mechanism of the robotic arm used to adjust the position of the robotic arm.

[0127] The control module 902 is used to control the robot arm to move under the condition that the end posture of the robot arm remains unchanged according to the current angle of the target joint and the end posture of the robot arm.

[0128] The surgical robot control system 900 can refer to the above-mentioned introduction to the control method of the surgical robot, which will not be repeated here.

[0129] In order to more clearly introduce the control method and control system of the surgical robot in the present application, the structure of the surgical robot is introduced below. It can be understood that the control method and control system of the surgical robot can be applied to the following surgical robots.

[0130] Fig.10 FIG. 1 is a schematic diagram of the structure of a surgical robot in an embodiment of the present application. In an exemplary embodiment, Fig.10 As shown in the figure, the surgical robot includes multiple robotic arms, which are robotic arm 1, robotic arm 2, robotic arm 3 and robotic arm 4 from left to right. Taking abdominal surgery as an example, Fig.10 The No. 3 robotic arm is the scope holding arm, which is used to connect the endoscope. Fig.10 Except for the No. 3 robot arm, the other robots are robot arms. Fig.10 Only one optional mode of the surgical robot is illustrated, and this embodiment does not limit the type of the surgical robot and the number of robotic arms.

[0131] Each mechanical arm includes an adjustment mechanism and a telecentric mechanism connected to the adjustment mechanism, and the telecentric mechanism can move relative to the adjustment mechanism. The adjustment mechanism and the telecentric mechanism each include at least one joint, and the joints in the adjustment mechanism and the telecentric mechanism can both be active joints.

[0132] During the operation, the telecentric mechanism is connected to the adjustment mechanism and the surgical cannula respectively, to further constrain the telecentric point of the robotic arm to remain stationary, that is, to constrain the end position of the robotic arm. In other words, the telecentric mechanism realizes the posture adjustment of the end of the robotic arm around the incision point on the patient, and the adjustment mechanism realizes the support and positioning of the telecentric mechanism. During the movement of the adjustment mechanism, it will also drive the telecentric mechanism to move accordingly. It can be seen that the positioning of the adjustment mechanism directly determines the layout and posture of the surgical instruments during the operation, thereby affecting the flexibility and safety of the surgical instruments.

[0133] For example, Fig.10 Robot arm No. 4, i.e., robot arm 1001, includes an adjustment mechanism 1002 and a telecentric mechanism 1003. The adjustment mechanism 1002 and the telecentric mechanism 1003 are connected, and the telecentric mechanism 1003 can move relative to the adjustment mechanism 1002.

[0134] Please continue to refer to Fig.10 In an exemplary embodiment, the robotic arms in the surgical robot include a plurality of first robotic arms of the same structure. The number of the first robotic arms is greater than or equal to 2 and less than or equal to the total number of the robotic arms in the surgical robot. Of course, the robotic arms in the surgical robot may also be first robotic arms.

[0135] Taking the first robot arm including the robot arm 1001 as an example, the adjustment mechanism 1002 of the robot arm 1001 includes an end rotation joint 1002a, a crossbar assembly 1002b, and an axial support assembly 1002c.

[0136] like Fig.10As shown, the end rotation joint 1002a is arranged at one end of the crossbar assembly 1002b, and is used to rotate the crossbar assembly 1002b in the horizontal direction, and the axial support assembly 1002c is arranged between the crossbar assembly 1002b and the telecentric mechanism 1003. Optionally, the target joint in the adjustment mechanism of the above-mentioned robot arm can be the end rotation joint 1002a.

[0137] Please continue to refer to Fig.10 In an exemplary embodiment, the surgical robot may further include a trolley mechanism 1004, and each mechanical arm in the surgical robot is connected to the trolley mechanism 1004. The trolley mechanism 1004 is used to fix or adjust the posture of the mechanical arm. In other words, the trolley mechanism 1004 can provide support and positioning for the adjustment mechanism in the mechanical arm.

[0138] Please continue to refer to Fig.10 In an exemplary embodiment, further optionally, the trolley mechanism 1004 may include a trolley base 1004a, a trolley lifting assembly 1004b, a trolley first rotating assembly 1004c, a trolley moving assembly 1004d, a trolley second rotating assembly 1004e and a trolley orientation assembly 1004f.

[0139] The trolley base 1004a is used to provide overall support for the surgical robot and a reference for the placement of the surgical robot. Optionally, the trolley base 1004a is connected to the ground in a floating manner through a lifting mechanism.

[0140] The first end of the trolley lifting assembly 1004b is arranged on the trolley base 1004a, which can be extended and retracted up and down, and is used to drive the trolley orientation assembly 1004f to move up and down. The trolley first rotating assembly 1004c is arranged on the second end of the trolley lifting assembly 1004b, and is used to drive the trolley orientation assembly 1004f to rotate in the horizontal direction. The trolley moving assembly 1004d is telescopically connected to the trolley lifting assembly 1004b. In the process of moving the trolley lifting assembly 1004b, the distance between the trolley moving assembly 1004d and the trolley lifting assembly 1004b can be adjusted to adjust the position of the trolley orientation assembly 1004f in space. The trolley second rotating assembly 1004e is also used to drive the trolley orientation assembly 1004f to rotate in the horizontal direction. The trolley orientation assembly 1004f is used to connect each mechanical arm.

[0141] In other words, the above-mentioned trolley lifting assembly 1004b, the trolley first rotating assembly 1004c, and the trolley moving assembly 1004d are used to position the trolley orientation assembly 1004f. Specifically, the trolley lifting assembly 1004b is used to position the trolley orientation assembly 1004f in the vertical direction; the trolley first rotating assembly 1004c and the trolley moving assembly 1004d are used together to position the trolley orientation assembly 1004f in the plane space. Therefore, the positioning of the trolley orientation assembly 1004f in space can be fully achieved through the trolley lifting assembly 1004b, the trolley first rotating assembly 1004c, and the trolley moving assembly 1004d.

[0142] Furthermore, the second rotating component 1004e of the trolley mainly realizes the posture adjustment of the trolley orientation component 1004f within the plane. In this way, the support and positioning of the adjustment mechanism can be achieved through the four motion units of the trolley mechanism, so that the surgical instruments connected to the robotic arm during the operation have a larger effective movement space, thereby covering the patient's lesions and having a larger obstacle avoidance space.

[0143] Fig.11 FIG. 1 is a schematic diagram of a connection between a trolley mechanism and an adjustment mechanism in an embodiment of the present application. In an exemplary embodiment, Fig.11 Shows Fig.10 A top view of the connection between the middle trolley mechanism and the robotic arm. Fig.11 As shown, continuing to take 4 robotic arms as an example, robotic arms No. 1 to No. 4 in the surgical robot are all connected to the trolley orientation component 1004f.

[0144] Further optionally, the No. 1 to No. 4 mechanical arms are all connected to the trolley orientation assembly 1004f through their end rotation joints. In this way, the position of the mechanical arm in space can be adjusted individually by using the end rotation joints on the mechanical arms.

[0145] Fig.12 FIG. 1 is a schematic diagram of a structure of an adjustment mechanism in an embodiment of the present application. In an exemplary embodiment, Fig.10 On the basis of Fig.12 As shown, the crossbar assembly 1002 b includes a translation joint 1201 , and the axial support assembly 1002 c includes an axial rotation joint 1202 and a pitch joint 1203 .

[0146] The movable joint 1201 is disposed on the side of the crossbar assembly 1002b facing the axial support assembly 1002c, and is used to drive the axial support assembly 1002c to move along the side of the crossbar assembly 1002b. The crossbar assembly 1002b includes but is not limited to a slide rail.

[0147] The axial rotation joint 1202 is disposed at one end of the axial support assembly 1002c close to the crossbar assembly 1002b, and is used to drive the axial support assembly 1002c to rotate in the horizontal direction. The pitch joint 1203 is disposed between the axial support assembly 1002c and the telecentric mechanism 1003, and is used to adjust the pitch angle of the telecentric mechanism 1003. Fig.12 Point P in the figure is also the end of the robotic arm.

[0148] At present, the pitch angle of the telecentric mechanism cannot be adjusted in the existing technology. However, the surgical robot in this embodiment realizes the pitch angle of the telecentric mechanism, which can adapt to the requirements of different patient inclination angles in clinical surgery; at the same time, by adjusting the pitch angle of the telecentric mechanism, the inclination angle can be optimized, thereby increasing the height of the telecentric point in the telecentric mechanism and enhancing the clinical adaptability of the system.

[0149] Furthermore, the surgical robot provided in this embodiment fully integrates the configuration characteristics of the adjustment mechanism and the telecentric mechanism. On the basis of ensuring the spatial motion performance, the adjustment mechanism only needs to be provided with 4 joints, reducing unnecessary redundant degrees of freedom in the system and improving the compactness and stability of the surgical robot. In this way, based on the compact configuration of the surgical robot, through the active joint telecentric point constraint drag control of the adjustment mechanism, the surgical arm can be adjusted according to the doctor's intention, improving the reliability, obstacle avoidance and ease of use of the operation.

[0150] Fig.13 A schematic diagram of the structure of a surgical robot in an embodiment of the present application is shown in FIG. Figure 10 to Figure 12 Based on this, a surgical robot architecture is Fig.13 Please refer to Fig.13 The surgical robot includes a trolley base 1004a, a trolley lifting assembly 1004b, a trolley first rotating assembly 1004c, a trolley moving assembly 1004d, a trolley second rotating assembly 1004e, and a trolley orientation assembly 1004f, which are connected in sequence. Among them, the trolley orientation assembly 1004f is connected to a plurality of first mechanical arms with the same structure. For example Fig.13 The surgical robot shown includes a total of 4 robotic arms, and all 4 robotic arms are first robotic arms.

[0151] Please continue to refer to Fig.13 , for each first robot arm, it includes an end rotation joint 1002a, a moving joint 1201, an axial rotation joint 1202, a pitch joint 1203 and a telecentric mechanism 1003. In one embodiment, the end rotation joint 1002a, the moving joint 1201, the axial rotation joint 1202 and the pitch joint 1203 can be understood as the above-mentioned joint 5, joint 6, joint 7 and joint 8 respectively. Optionally, the end rotation joint 1002a, the moving joint 1201, the axial rotation joint 1202 and the pitch joint 1203 are all active joints.

[0152] In the above-mentioned surgical robot, the first three serially connected end rotation joints 1002a, the moving joint 1201, and the axial rotation joint 1202 in the adjustment mechanism can be used to locate the telecentric point P in the telecentric mechanism in the plane, that is, to locate the end position of the robotic arm.

[0153] The pitch joint 1203 is connected to the telecentric mechanism. On the one hand, the pitch joint 1203 can adjust the installation pitch angle of the mechanism. On the other hand, the pitch joint 1203 can coordinate with the first three series joints in the adjustment mechanism to realize the positioning of the end P of the robot arm in space. This makes the telecentric mechanism still have redundancy in spatial positioning, effectively improves the flexibility of the telecentric mechanism, and makes the space more compact.

[0154] Fig.14 This is a schematic diagram of the architecture of another surgical robot in an embodiment of the present application. In an exemplary embodiment, the multiple robotic arms include at least two second robotic arms. The adjustment mechanism of the second robotic arm includes multiple vertical rotation joints and one lateral rotation joint; the multiple vertical rotation joints and the lateral rotation joints are connected by a connecting assembly.

[0155] Optionally, the second robotic arm may be two robotic arms located on the outer sides of the robotic arms of the surgical robot. Fig.14 The figure shows that the two outer mechanical arms of the surgical robot are the second mechanical arms, and the two middle mechanical arms are the first mechanical arms. Fig.14 As shown, taking the second robot arm on the far left as an example, it includes a vertical rotation joint 1401 , a vertical rotation joint 1402 , a vertical rotation joint 1403 and a lateral rotation joint 1404 .

[0156] That is to say, there are at least two different architectural schemes for surgical robots. Fig.13 In the implementation method, the joints of the four adjustment mechanisms in the four robotic arms are consistent, and for each adjustment mechanism, the joints included are: a joint for rotation, a joint for movement, a joint for rotation, and a joint for pitch.

[0157] exist Fig.14 In the implementation method, if there are still four robotic arms, the joint settings of the two outer adjustment mechanisms are different from those of the two inner adjustment mechanisms. The outer adjustment mechanisms include joints for rotation, joints for rotation, joints for rotation, and joints for pitching, and the inner adjustment mechanisms include joints for rotation, joints for movement-joints for rotation, and joints for pitching. In this way, Fig.14 The outer robotic arms can better simulate the conditions of human hand joints, thereby increasing the obstacle avoidance capability.

[0158] Fig.15 Schematic diagram of the structure of a telecentric mechanism in the embodiment of the present application. Fig.15 As shown, the telecentric mechanism in the above-mentioned surgical robot includes a swivel joint 1501 , an active pitch portion 1502 , a first passive pitch portion 1503 , a second passive pitch portion 1504 and an instrument joint 1505 .

[0159] Optionally, the active pitch part 1502 includes an active pitch joint 1502a and an active pitch link 1502b. The first passive pitch part 1503 includes a first passive pitch joint 1503a and a first passive pitch link 1503b. The second passive pitch part 1504 includes a second passive pitch joint 1504a and a second passive pitch link 1504b.

[0160] Among them, the swivel joint 1501 is connected to the adjustment mechanism; the active pitch joint 1502a is set at one end of the active pitch link 1502b; the other end of the active pitch link 1502b is connected to one end of the first passive pitch link 1503b through the first passive pitch joint 1503a. The other end of the first passive pitch link 1503b is connected to the second passive pitch link 1504b through the second passive pitch link 1504a. The instrument joint 1505 is set on the second passive pitch link 1504b.

[0161] Further optionally, the speeds among the active pitch joint 1502a, the first passive pitch joint 1503a and the second passive pitch joint 1504a are less than a preset difference. The preset difference is a number close to 0. For example, the speeds among the active pitch joint 1502a, the first passive pitch joint 1503a and the second passive pitch joint 1504a are equal.

[0162] Furthermore, the active pitch joint 1502a, the first passive pitch joint 1503a, the second passive pitch joint 1504a and the end P of the robotic arm form a parallelogram. In this way, the rotation axis of the swivel joint 1501 is parallel to the first passive pitch link 1503b, so that the rotation axis of the swivel joint 1501 and the rotation axis of the parallelogram converge at one point, so that the movement of the telecentric mechanism can perform posture adjustment movement around the incision point on the patient. In other words, the telecentric mechanism does not affect the end posture of the robotic arm during movement.

[0163] To sum up, the surgical robot provided in this embodiment and the control method based on the surgical robot can effectively solve the problems of pitch angle adjustment of telecentric mechanism installation, insufficient movement space and poor usability, and effectively ensure the safety, flexibility and usability of the surgical robot.

[0164] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0165] Based on the same inventive concept, the embodiment of the present application also provides a control device for a surgical robot for implementing the control method of the surgical robot involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of the control device for one or more surgical robots provided below can refer to the limitations of the control method for the surgical robot above, and will not be repeated here.

[0166] Fig.16 is a structural block diagram of a control and adjustment device for a surgical robot in an embodiment of the present application. In an exemplary embodiment, Fig.16 As shown, a control device 1600 of a surgical robot is provided, comprising: a first determination module 1601, a second determination module 1602 and a control module 1603, wherein:

[0167] The first determination module 1601 is used to obtain the end position of the robotic arm when it is detected that the end of the robotic arm of the surgical robot is connected to the surgical cannula.

[0168] The second determination module 1602 is used to determine the current angle of the target joint in response to the dragging operation on the target joint in the robotic arm; the target joint is a joint in the adjustment mechanism of the robotic arm used to adjust the position of the robotic arm.

[0169] The control module 1603 is used to control the robot arm to move under the condition that the end posture of the robot arm remains unchanged according to the current angle of the target joint and the end posture of the robot arm.

[0170] In the control device of the above-mentioned surgical robot, since the end position of the robotic arm is obtained when the end of the robotic arm of the surgical robot is detected to be connected to the surgical cannula, and the current angle of the target joint is determined in response to the dragging operation of the target joint in the robotic arm, and the target joint is a joint in the adjustment mechanism of the robotic arm used to adjust the position of the robotic arm, therefore, according to the current angle of the target joint and the end position of the robotic arm, the robotic arm can be controlled to move while the end position of the robotic arm remains unchanged. In this process, there is no need for medical staff to manually fix the end of the robotic arm so that the end of the robotic arm remains stationary, and only one medical staff needs to drag the target joint, and then the robotic arm can be combined with the intention of the medical staff to move to a suitable position while the end position of the robotic arm remains unchanged. Therefore, the device provided by this embodiment can simplify the complexity of operation. Furthermore, since multiple medical staff and manual fixation are not required, human resources can also be saved, and the ease of use and reliability of the surgical robot can be improved.

[0171] Optionally, the control module 1603 includes:

[0172] The first determination unit is used to determine the target angles of other joints in the adjustment mechanism based on the end posture of the robot arm and the current angle of the target joint; the other joints include the joints in the adjustment mechanism except the target joint.

[0173] The control unit is used to control the movement of the robot arm while keeping the end position of the robot arm unchanged according to the target angles of other joints.

[0174] Optionally, the first determining module 1601 includes:

[0175] The acquisition unit is used to acquire the current angle of each joint in the adjustment mechanism of the robot arm.

[0176] The second determination unit is used to determine the end position of the robot arm based on the current angle of each joint in the adjustment mechanism.

[0177] Optionally, the control device 1600 of the surgical robot further includes:

[0178] The acquisition module is used to obtain the posture evaluation result of the surgical robot after controlling the robot arm to move while the end posture of the robot arm remains unchanged.

[0179] The output module is used to output a prompt message when the posture evaluation result of the surgical robot does not meet the preset posture requirement; the prompt message is used to instruct the target joint in the adjustment mechanism to be dragged again.

[0180] Each module in the control device of the above surgical robot can be implemented in whole or in part by software, hardware and their combination. Each module can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0181] Fig.17 The internal structure diagram of the computer device in the embodiment of the present application is shown in FIG. 1 . In an exemplary embodiment, a computer device is provided. The computer device may be a server. The internal structure diagram thereof may be as shown in FIG. Fig.17 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store relevant data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a control method for a surgical robot is implemented.

[0182] Those skilled in the art will understand that Fig.17 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0183] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0184] When detecting that the end of the robotic arm of the surgical robot is connected to the surgical cannula, acquiring the end position of the robotic arm;

[0185] In response to a dragging operation on a target joint in the robotic arm, determining a current angle of the target joint; the target joint is a joint in an adjustment mechanism of the robotic arm used to adjust a position of the robotic arm;

[0186] According to the current angle of the target joint and the end position of the robotic arm, the robotic arm is controlled to move while the end position of the robotic arm remains unchanged.

[0187] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0188] Based on the end position of the robotic arm and the current angle of the target joint, the target angles of other joints in the adjustment mechanism are determined; the other joints include joints in the adjustment mechanism except the target joint; according to the target angles of the other joints, the robotic arm is controlled to move while the end position of the robotic arm remains unchanged.

[0189] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0190] The current angle of each joint in the adjustment mechanism of the robotic arm is obtained; and the end position of the robotic arm is determined based on the current angle of each joint in the adjustment mechanism.

[0191] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0192] After controlling the robotic arm to move while the end posture of the robotic arm remains unchanged, obtaining the posture evaluation result of the surgical robot; when the posture evaluation result of the surgical robot does not meet the preset posture requirement, outputting a prompt message; the prompt message is used to instruct to re-drag the target joint in the adjustment mechanism.

[0193] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0194] When detecting that the end of the robotic arm of the surgical robot is connected to the surgical cannula, acquiring the end position of the robotic arm;

[0195] In response to a dragging operation on a target joint in the robotic arm, determining a current angle of the target joint; the target joint is a joint in an adjustment mechanism of the robotic arm used to adjust a position of the robotic arm;

[0196] According to the current angle of the target joint and the end position of the robotic arm, the robotic arm is controlled to move while the end position of the robotic arm remains unchanged.

[0197] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0198] Based on the end position of the robotic arm and the current angle of the target joint, the target angles of other joints in the adjustment mechanism are determined; the other joints include joints in the adjustment mechanism except the target joint; according to the target angles of the other joints, the robotic arm is controlled to move while the end position of the robotic arm remains unchanged.

[0199] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0200] The current angle of each joint in the adjustment mechanism of the robotic arm is obtained; and the end position of the robotic arm is determined based on the current angle of each joint in the adjustment mechanism.

[0201] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0202] After controlling the robotic arm to move while the end posture of the robotic arm remains unchanged, obtaining the posture evaluation result of the surgical robot; when the posture evaluation result of the surgical robot does not meet the preset posture requirement, outputting a prompt message; the prompt message is used to instruct to re-drag the target joint in the adjustment mechanism.

[0203] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0204] When detecting that the end of the robotic arm of the surgical robot is connected to the surgical cannula, acquiring the end position of the robotic arm;

[0205] In response to a dragging operation on a target joint in the robotic arm, determining a current angle of the target joint; the target joint is a joint in an adjustment mechanism of the robotic arm used to adjust a position of the robotic arm;

[0206] According to the current angle of the target joint and the end position of the robotic arm, the robotic arm is controlled to move while the end position of the robotic arm remains unchanged.

[0207] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0208] Based on the end position of the robotic arm and the current angle of the target joint, the target angles of other joints in the adjustment mechanism are determined; the other joints include joints in the adjustment mechanism except the target joint; according to the target angles of the other joints, the robotic arm is controlled to move while the end position of the robotic arm remains unchanged.

[0209] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0210] The current angle of each joint in the adjustment mechanism of the robotic arm is obtained; and the end position of the robotic arm is determined based on the current angle of each joint in the adjustment mechanism.

[0211] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0212] After controlling the robotic arm to move while the end posture of the robotic arm remains unchanged, obtaining the posture evaluation result of the surgical robot; when the posture evaluation result of the surgical robot does not meet the preset posture requirement, outputting a prompt message; the prompt message is used to instruct to re-drag the target joint in the adjustment mechanism.

[0213] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0214] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0215] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the present application. It should be noted that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A control method for a surgical robot, characterized in that: The method comprises: When detecting that the end of the robotic arm of the surgical robot is connected to the surgical cannula, acquiring the end position of the robotic arm; In response to a dragging operation on a target joint in the robotic arm, determining a current angle of the target joint; the target joint is a joint in an adjustment mechanism of the robotic arm used to adjust a position of the robotic arm; According to the current angle of the target joint and the end position of the robotic arm, the robotic arm is controlled to move while the end position of the robotic arm remains unchanged.

2. The method according to claim 1, characterized in that The controlling the robotic arm to move while the end position of the robotic arm remains unchanged according to the current angle of the target joint and the end position of the robotic arm comprises: Determine the target angles of other joints in the adjustment mechanism based on the end position of the robot arm and the current angle of the target joint; the other joints include joints in the adjustment mechanism other than the target joint; According to the target angles of the other joints, the robotic arm is controlled to move while the end position of the robotic arm remains unchanged.

3. The method according to claim 1 or 2, characterized in that: The step of obtaining the end position of the robotic arm comprises: Obtaining the current angle of each joint in the adjustment mechanism of the robotic arm; Based on the current angles of the joints in the adjustment mechanism, the end position of the robotic arm is determined.

4. The method according to claim 1 or 2, characterized in that: The method further comprises: After controlling the robotic arm to move while the end position of the robotic arm remains unchanged, obtaining a position and posture evaluation result of the surgical robot; When the posture evaluation result of the surgical robot does not meet the preset posture requirement, a prompt message is output; the prompt message is used to instruct to re-drag the target joint in the adjustment mechanism.

5. A surgical robot control system, characterized in that: The system comprises: A positioning module, for obtaining the end position of the robotic arm of the surgical robot when detecting that the end of the robotic arm is connected to the surgical cannula, and determining the current angle of the target joint in the robotic arm in response to a dragging operation on the target joint in the robotic arm; the target joint is a joint in the adjustment mechanism of the robotic arm used to adjust the position of the robotic arm; The control module is used to control the movement of the robotic arm under the condition that the end posture of the robotic arm remains unchanged according to the current angle of the target joint and the end posture of the robotic arm.

6. The system according to claim 5, characterized in that The mechanical arm comprises a plurality of mechanical arms, each of which comprises an adjustment mechanism and a telecentric mechanism connected to the adjustment mechanism; The telecentric mechanism is capable of moving relative to the adjustment mechanism; Wherein, the plurality of mechanical arms include a plurality of first mechanical arms of the same structure, and the adjustment mechanism of the first mechanical arms includes a crossbar assembly, an end rotation joint, and an axial support assembly; The end rotation joint is arranged at one end of the cross bar assembly, and is used for rotating the cross bar assembly in the horizontal direction; the axial support assembly is arranged between the cross bar assembly and the telecentric mechanism.

7. The system according to claim 6, characterized in that The crossbar assembly includes a translation joint, and the axial support assembly includes an axial rotation joint and a pitch joint; The movable joint is arranged on the side of the cross bar assembly facing the axial support assembly, and is used to drive the axial support assembly to move along the side of the cross bar assembly; The axial rotation joint is arranged at one end of the axial support assembly close to the crossbar assembly, and is used to drive the axial support assembly to rotate along the horizontal direction; The pitch joint is arranged between the axial support assembly and the telecentric mechanism, and is used for adjusting the pitch angle of the telecentric mechanism.

8. The system according to claim 6, characterized in that The multiple mechanical arms include at least two second mechanical arms, and the adjustment mechanism of the second mechanical arms includes multiple vertical rotation joints and one transverse rotation joint; the multiple vertical rotation joints and the transverse rotation joint are connected via a connecting component.

9. A control device for a surgical robot, characterized in that: The device comprises: A first determination module is used to obtain the end position of the robotic arm of the surgical robot when it is detected that the end of the robotic arm is connected to the surgical cannula; a second determination module, configured to determine a current angle of a target joint in the robotic arm in response to a dragging operation on the target joint in the robotic arm; the target joint is a joint in an adjustment mechanism of the robotic arm used to adjust a position of the robotic arm; The control module is used to control the movement of the robotic arm under the condition that the end posture of the robotic arm remains unchanged according to the current angle of the target joint and the end posture of the robotic arm.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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